WO2023061979A1 - Modification des performances d'un pulvérisateur par hmi - Google Patents

Modification des performances d'un pulvérisateur par hmi Download PDF

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Publication number
WO2023061979A1
WO2023061979A1 PCT/EP2022/078189 EP2022078189W WO2023061979A1 WO 2023061979 A1 WO2023061979 A1 WO 2023061979A1 EP 2022078189 W EP2022078189 W EP 2022078189W WO 2023061979 A1 WO2023061979 A1 WO 2023061979A1
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WO
WIPO (PCT)
Prior art keywords
field
treatment performance
treatment
agricultural machine
agricultural
Prior art date
Application number
PCT/EP2022/078189
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English (en)
Inventor
Carvin Guenther SCHEEL
Holger Hoffmann
Clemens Christian DELATREE
Marcel Enzo GAUER
Steffen TELGMANN
Janis Joshua FALTMANN
Original Assignee
Basf Agro Trademarks Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by Basf Agro Trademarks Gmbh filed Critical Basf Agro Trademarks Gmbh
Priority to CA3234573A priority Critical patent/CA3234573A1/fr
Publication of WO2023061979A1 publication Critical patent/WO2023061979A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/0089—Regulating or controlling systems

Definitions

  • the present disclosure relates to a computer-implemented method modifying a treatment performance for treating an agricultural field by an agricultural machine, whereas the method comprises a modification function and the agricultural machine comprises at least one treatment component.
  • the general background of this disclosure is the treatment of plants in an agricultural area, which may be an agricultural field, a greenhouse, or the like.
  • the treatment of plants, such as the cultivated crops may also comprise the treatment of weed present in the agricultural area, the treatment of the insects present in the agricultural area or the treatment of pathogens present in the agricultural area.
  • a computer-implemented method for modifying a treatment performance for treating an agricultural field having the steps of Obtaining field data;
  • the treatment performance after analyzing the field data can be varied.
  • the resulting performance data and the agricultural effects may be useful for further applications such as optimizing an ADE.
  • the method comprises additionally the step of generating control data based on the modified treatment performance.
  • control data can relate to a location-specific on/off-operation of at least one treatment component of the agricultural machine.
  • the method comprises step of controlling the agricultural machine and/or at least one treatment component based on the control data.
  • the method additionally comprises the steps of obtaining identity data connected with a farmer of the agricultural field from a database; and storing or updating the identity data of the database with the treatment performance modification.
  • the determined treatment performance can be based on at least one threshold level.
  • the term “threshold” can be understood as follows: For instance, in weed treatment, the threshold may relate to a fraction of weed objects present on an image. For insect treatment the threshold may relate to a fraction of insects present on the image. For disease treatment the threshold may relate to a fraction of fungal infestation present on the image. Here the fraction of pixels associated with weed, insect or fungal infestation may be derived from the image. For a percentage parameter the fraction of pixels associated with weeds, insects or fungal infestation may be related to all pixels or pixels not associated with weed, insect or fungal infestation. In operation of the treatment device, this may be calculated e.g. by the number of pixels assigned to weeds, insects, fungal infestation compared to the total number of pixels of the image. If the fraction is greater than or equals the threshold, an operation mode, such as an on-signal for the treatment component, may be triggered.
  • an operation mode such as an on-signal for the treatment component
  • the term “threshold” can be also understood as follows: For instance, in weed treatment the threshold may relate to an area (e.g. in cm 2 or mm 2 ) of weed objects present on an image compared to a reference area (e.g. an 1 meter x 1 meter sub-field zone). For insect treatment the threshold may relate to an area (e.g. in cm 2 or mm 2 ) of insect objects present on an image compared to a reference area (e.g. an 1 meter x 1 meter sub-field zone), to an area (e.g. in cm 2 or mm 2 ) of fungal infestation objects present on an image compared to a reference area (e.g.
  • an operation mode such as an on-signal for the treatment component, may be triggered.
  • the treatment performance can be outputted via the HMI device before the form of a representation parameter is inputted via the HMI device.
  • the term “harmful organism” is understood to be any organism which has a negative impact to the growth or to the health of the agricultural crop plant.
  • the harmful organism is selected from the group consisting of weeds, fungi, viruses, bacteria, insects, arachnids, nematodes, mollusks, birds, and rodents, more preferably, the harmful organism is selected from the group consisting of weeds, fungi, insects, arachnids, and nematodes. Most preferably, the harmful organism is weed.
  • the treatment performance can be calculated by analyzing the sensor data taken from the agricultural field, preferably images in which the harmful organism - such as weeds - can be recognized.
  • the sensor data are preferably camera image data.
  • a computer program or computer readable non-volatile storage medium comprising computer readable instructions, which when loaded and executed by a computing unit to perform the methods above are disclosed.
  • control system for an agricultural machine which, when receiving control data according, controls the agricultural machine to perform the methods above, is disclosed.
  • field or “agricultural field” is understood to be any area in which crop plants, are produced, grown, sown, and/or planned to be produced, grown or sown.
  • field or “agricultural field” may also include horticultural fields, and silvicultural fields.
  • treatment is understood to be any kind of treatment possible in an agricultural field, including but not limited to seeding, fertilization, crop protection, growth regulation, harvesting, adding or removing of organisms - particularly crop plants - , as well as soil treatment, soil nutrient management, soil nitrogen management, tilling, ploughing, irrigation.
  • treatment is one of the following activities: seeding, fertilization, crop protection, growth regulation, harvesting, adding or removing of organisms - particularly crop plants - , as well as soil treatment, soil nutrient management, soil nitrogen management, tilling, ploughing, irrigation.
  • treatment is crop protection.
  • treatment is growth regulation.
  • treatment is harvesting.
  • moving(s) or moving through the field includes driving, flying, travelling through the field.
  • the “treatment device” may be part of a smart farming machinery and may preferably be part of a distributed computing system.
  • the treatment device may be a driving, flying or any otherwise moving device configured to travel through or over the agricultural area, e.g. via a ground vehicle, a rail vehicle, an aircraft, a drone, or the like.
  • the smart farming machinery or the treatment device may include, for example, a vehicle, an aircraft, a robot, a sprayer, or the like, with one or more treatment mechanisms attached and may comprise a communication and/or connectivity system.
  • the connectivity system may be configured to communicatively couple the smart farming machinery or treatment device to the distributed computing environment. It may be configured to provide a control file or control data generated via remote computing resources of the distributed computing system to the smart machinery or treatment device or to provide data collected on the smart machinery or treatment device to one or more remote computing resources of the distributed computing system.
  • a human-machine interface (HMI) device comprises at least an output component, for example a display, for outputting information to a user, and an input component, for inputting information to a computing means.
  • the HMI may comprise at least one display device and/or at least one audio device.
  • the display device may be any one or more of: a visual indicator or a display screen.
  • the audio device may be any one or more of: an annunciator or a loudspeaker. Any one or more determinations or results may be communicated for the user via the HMI, for example, the output signal may be provided either directly or indirectly to the HMI.
  • the HMI may also be used to communicate any of the one or more signals retrieved from the machine and/or any of the one or more parameters, either visually and/or audibly. Additionally, the HMI may also be used to display the geographical location and/or any relevant parameters related to the computing unit and/or any one or more parameters or values related to the treatment or related to the treatment performance.
  • the computing means can also be a distributed computing system.
  • control data may comprise one operation parameter for the agricultural area, more than one operation parameter for different zones of the agricultural area (e.g. for different sub-field zones) or a spatially resolved map of operation parameters for different locations of the agricultural area.
  • Identity data relates to the identity of the farmer of this agricultural field. This data allows to relate field data and other data, especially treatment performance modification data, with the identity of the farmer. Preferably, identity data is stored in a database for further use.
  • the field data can comprise information about the country, the region, the soil, the crop, especially about type and amount of crop, the row width of the crop, the harmful organism (for example weed), especially about the type and amount of the harmful organism (for example weed), the weather, the time, the plantation phase, the planned treatment as well as predictions for such information and about such information gathered in the past.
  • the agricultural machine either has a treatment map, in which the amount of harmful organism at a given position of the agricultural field is stored, or the agricultural machine is equipped with one or more sensor devices for detecting the amount of harmful organism locally in real-time while moving through the field.
  • the agricultural machine either has a treatment map, in which the amount of weed at a given position of the agricultural field is stored, or the agricultural machine is equipped with one or more sensor devices for detecting the amount of weed locally in real-time while moving through the field.
  • a treatment performance can be derived, especially via an agronomic decision engine (ADE).
  • An ADE connects agronomic relevant input data, in particular historic, current and predicted data, for example from an agricultural field, from an agricultural machine and/or weather data, with an agronomic decision to be taken, especially when, where and how to apply a treatment.
  • the treatment performance can be realized for example in form of one or more threshold values or a substantially continuous or stepwise function.
  • the treatment performance modification is either positive, negative, or zero, defined by a representation parameter.
  • the modification is preferably a function of a treatment performance, but can also be a fixed value.
  • the modification function can be predefined, can be part of the field data or generated or provided together with the treatment performance.
  • the modification function can be a fixed percentage of the treatment performance, i.e. 1% or 10%, multiplied by the representation parameter and then applied to the treatment performance.
  • the treatment performance modification via HMI is conducted in real time, particularly while moving through the field.
  • the following method (also referred to as “real-time treatment performance modification via HMI”) has been found: A method for modifying a treatment performance for treating an agricultural field by an agricultural machine, whereas the method comprises a modification function and the agricultural machine comprises at least one treatment component, characterized in that the method having the steps of
  • the following method (also referred to as “real-time treatment performance modification via HMI on sub-field zone level”) has been found: A method for modifying a treatment performance for treating an agricultural field by an agricultural machine, whereas the method comprises a modification function and the agricultural machine comprises at least one treatment component, characterized in that the method having the steps of
  • a method for modifying a treatment performance for treating an agricultural field by an agricultural machine whereas the method comprises a modification function and the agricultural machine comprises at least one treatment component, characterized in that the method having the steps of Obtaining field data (SI, S10) of a sub-field zone of the agricultural field in real-time while the agricultural machine moves through the sub-field zone, wherein the field data at least comprises information about the presence of harmful organism on the field;
  • SI field data
  • the method comprises the following step (S3.6, S13.6): Calculating a difference between the planned treatment performance for the sub-field zone and the determined treatment performance for the sub-field zone, and based on this calculated difference or depending on whether this calculated difference exceeds a predetermined treatment performance difference threshold value, generating an adjustment signal to the HMI device (S3.6, S13.6).
  • the method comprises the following step (S3.6, S13.6): Calculating a difference between the planned treatment performance for the sub-field zone and the determined treatment performance for the sub-field zone, and based on this calculated difference or depending on whether this calculated difference exceeds a predetermined treatment performance difference threshold value, generating an adjustment signal to the HMI device (S3.6, S13.6), and the step “Modifying the treatment performance” (S4, S15) comprises: Modifying the treatment performance for the sub-field zone with the treatment performance modification in real-time while the agricultural machine moves through the sub-field zone based on the adjustment signal - (S4, S15), preferably by inputting a form of the representation parameter via an HMI device (S14).
  • the entire process starting from “obtaining field data” (step SI, S10) and ending with “modifying the treatment performance” (step S4, S14) is conducted in real-time, i.e. that preferably not more than 15 minutes, more preferably not more than 10 minutes, most preferably not more than 5 minutes, particularly preferably not more than 2 minutes, particularly more preferably not more than 60 seconds, particularly most preferably not more than 30 seconds, particularly not more than 15 seconds, particularly for example not more than 5 seconds, for example not more than 2 seconds lies between the “obtaining field data” (step SI, S10) and the “modifying the treatment performance” (step S4, S14).
  • zone or “sub-field zone” is understood to be a zone or a part of an agricultural field, i.e. an agricultural field can be spatially divided into more than one zone, wherein each zone may have different properties such as different biomass levels or different weed and/or pathogen infestation risks.
  • a sub-field zone can be preferably a 0.1 m x 0.1 m zone, a 0.5 m x 0.5 m zone, a Im x Im zone, a 2m x 2m zone, a 3m x 3m zone, a 5 m x 5 m zone, a 10m x 10m zone, a 20 m x 20 m zone, a 30 m x 30 m zone, or a 50m x 50 m zone.
  • the term “real-time” means that a second process - for example the obtaining of field data of a sub-field zone - is being performed within a very short time period, preferably not more than 15 minutes, more preferably not more than 10 minutes, most preferably not more than 5 minutes, particularly preferably not more than 2 minutes, particularly more preferably not more than 60 seconds, particularly most preferably not more than 30 seconds, particularly not more than 15 seconds, particularly for example not more than 5 seconds, for example not more than 2 seconds, after a first process - for example moving through the same sub-field zone by an agricultural machine - is being performed.
  • treatment performance is understood to be the expected percentage of harmful organism (e.g. weed) which can be removed or repelled by the treatment.
  • planned treatment performance is the treatment performance which has been calculated prior to the start of the treatment, particularly at the time when the treatment has been planned.
  • the treatment performance is dependent on the type and dose rate of the treatment product (including but not limited to herbicides, fungicides, insecticides, acaricides, nematicides, rodenticides etc.) applied.
  • the treatment performance is dependent on the threshold (harmful organism threshold, for example weed threshold).
  • the treatment performance is dependent on the harmful organism (including type, species, biological or genetic variant) to be treated.
  • the treatment performance is determined or updated for a sub-field zone by analyzing the field data in real-time - e.g. every 15 minutes, every 5 minutes, every 2 minutes, every 60 seconds, every 30 seconds, every 15 seconds, every 5 seconds or every 2 seconds - while the agricultural machine moves through the sub-field zone.
  • the field data which are preferably taken in real-time from sensors such as cameras
  • the determined treatment performance will be most likely lower than the planned treatment performance, i.e.
  • the determined treatment performance will be most likely lower than the planned treatment performance, i.e. there will be a calculated difference between the determined treatment performance and the planned treatment performance which will be most likely negative (minus).
  • the determined treatment performance will be most likely lower or higher than the planned treatment performance, i.e. there will be a calculated difference between the determined treatment performance and the planned treatment performance which will be most likely negative (minus) or positive (plus).
  • an adjustment signal to the HMI device will be generated.
  • the adjustment signal could be in the form of: “No modification recommended” (especially in the event that this calculated difference has not exceeded a predetermined treatment performance difference threshold value), “modification recommended” (especially in the event that this calculated difference has exceeded a predetermined treatment performance difference threshold value), “modification of the weed threshold or harmful organism threshold of plus or minus x% recommended” (especially in the event that this calculated difference has not exceeded a predetermined treatment performance difference threshold value).
  • the treatment performance modification can be conducted by inputting a form of an inputting a form of the representation parameter via an HMI device, or by accepting the modifications recommended in the adjustment signal via the HMI device.
  • the user can predetermine in the settings on the HMI device that, in case a certain adjustment signal to the HMI device is generated, in all cases the treatment performance modification will be conducted according to the recommended modifications of the adjustment signal.
  • the adjustment signal is a control file or control data. More preferably, the adjustment signal is transmitted via a push notification or push message (e.g. push SMS or push e-mail) to the HMI device.
  • the representation parameter can be +1, -1 and 0. More preferably, the representation parameter “+1” will cause an increase of the weed threshold or harmful organism threshold at a given magnitude or range, the representation parameter “-1” will cause a decrease of the weed threshold or harmful organism threshold at a given magnitude or range, and the representation parameter “0” will not cause any change of the weed threshold or harmful organism threshold.
  • the representation parameter can be any numeric value, which can be set by the user via the HMI device, for example via a slider (linear slider or circular slider), or via a numeric value input.
  • the agricultural field comprises 2 sub-field zones Zl, and Z2. 2 days prior to the treatment of the agricultural field, the following weeds have been detected:
  • sub-field zone Zl Weed species W1 with a coverage of approx. 0.1% (i.e. the percentage of the weed area compared to the total area is 0.1%) has been detected;
  • sub-field zone Z2 Weed species W2 with a coverage of approx. 0.02% has been detected:
  • the planned treatment performance (2 days prior to the treatment) was as follows:
  • the expected treatment performance equals the planned treatment performance, nothing needs to be modified.
  • the treatment performance will be modified according to the recommendation “Recommend to lower W2-specific weed threshold from 0.015% to 0.001%)”, at the representation parameter being for example “-1”. Accordingly, the control data usable for controlling the agricultural machine based on the modified treatment performance will be generated in real-time for sub-field zone Z2. That means, when the machine moves through the remaining 95% area part of the sub-field zone Z2, the weed threshold has been now adjusted to 0.001%.
  • the control data usable for controlling the agricultural machine based on the modified treatment performance will be generated in real-time for sub-field zone Z2. That means, when the machine moves through the remaining 95% area part of the sub-field zone Z2, the weed threshold has been now adjusted to 0.001%.
  • Fig. 1 illustrates an example embodiment of a general overview of a distributed computing system according to the present invention
  • Fig. 2 shows an exemplary embodiment of a method for modifying a treatment performance for treating an agricultural field by an agricultural machine
  • Fig. 3 shows another exemplary embodiment of a method for modifying a treatment performance for treating an agricultural field by an agricultural machine.
  • Fig. 1 shows a general overview of a distributed computing system 12 including an agricultural machine 10 and a system 200.
  • the distributed computing system 12 is configured for treatment of a field 11 with crops cultivated.
  • the field 11 may to be treated by use of a treatment product, e.g. an herbicide, pesticide, insecticide, fungicide, or the like.
  • the field 11, may be any plant or crop cultivation area, such as a field, a greenhouse, or the like, at a geo-referenced location.
  • the field 11 may optionally be divided into two or more subareas illustrating zone-specific or location specific specificity.
  • the system 12 may form a distributed computing environment. It may comprise one or more of an agricultural machine 10, a first computing resource or means or system 200, a second computing resource or means 16, and a third computing resource or means 18.
  • the agricultural machine 10 and/or the first, second and third computing means 200, 16, 18, may at least partly be remote to each other.
  • At least some of the agricultural machine 10 and the first, the second and the third computing means 200, 16, 18 may comprise one or more of a data processing unit, a memory, a data interface, a communication interface, etc.
  • the agricultural machine 10 and the first, the second and the third computing means 200, 16, 18 may be configured to communicate with each other via communication means, such as a communications network, as indicated in Fig. 1 by dashed lines between the entities 10, 200, 16 and 18.
  • the agricultural machine 10 may also be referred to as a smart farming machinery.
  • the agricultural machine 10 may be e.g. a vehicle, such as a tractor or the like, an aircraft, a robot, a smart sprayer, or the like, and may be configured to be operated, for example, computer-aided, by a remote control and/or at least semi-autonomous.
  • the agricultural machine 10 may, for example, comprise and/or carry a treatment component, which may be e.g. a spraying device for application of a treatment product.
  • the first computing means or system 200 may be a farm management system configured to generate and/or provide for sustainability tracking of a treatment device 10 for treating an agricultural field 11 with a treatment product.
  • FIG. 2 an exemplary embodiment of the method for modifying a treatment performance for treating an agricultural field by an agricultural machine, here for treating weed by spraying a herbicide, is depicted.
  • the farmer of the agricultural field inputs field data to a computing unit via a HMI device SI.
  • the field data might comprise data acquired by a sensor device.
  • a treatment performance in form of a threshold value is determined S2.
  • the treatment is to be performed by an agricultural machine if the amount of weed stored in a treatment map or detected on the field exceeds locally the threshold value.
  • a modification function is provided and the farmer inputs a form of a representation parameter via the HMI device S3, the representation parameter (r) denoting one of +1, -1 or 0.
  • the generated threshold value is then modified by the treatment performance modification S4.
  • the modified threshold value can then be optionally used to generate control data for the agricultural machine S5.
  • the agricultural machine can be controlled to perform the treatment of the agricultural field according to the modified threshold value S6.
  • the treatment performance modification or parts of it can also be uploaded to a database and stored within or updating data, in particular in relation with the identity of the farmer, the field data and/or the threshold value.
  • Fig. 3 another exemplary embodiment of the for modifying a treatment performance for treating an agricultural field by an agricultural machine, also here for treating weed by spraying a herbicide, is depicted.
  • identity data is loaded from a database S10, comprising the farmers identity and field data.
  • the data can also be updated by the farmer via the HMI device Sil.
  • a treatment performance in form of a threshold value is determined S12.
  • the treatment is to be performed by an agricultural machine if the amount of weed stored in a treatment map or detected on the field exceeds locally the threshold value.
  • a modification function is provided and the farmer inputs a form of a representation parameter via the HMI device S13, the representation parameter (r) denoting one of +1, -1 or 0.
  • the treatment performance here generated is an essentially continuous or a stepwise function, connecting the amount of weed, for example normalized between 0 and 1, to an amount of treatment, in particular a treatment product, from a treatment component of the agricultural machine to be applied, also normalized between 0 (no treatment, especially no activation of the treatment component) and 1 (full treatment, full activation of the treatment component).
  • the treatment performance modification (tpm) here can be for example the representation parameter (r) of +1, -1 or 0 multiplied by 5% of the treatment performance (tp): tpmpr*0.05*tp, Part of the treatment performance modification, especially the representation parameter (r), can be loaded from the identity data stored in the database.
  • the representation (r) can also be changed by the farmer via the HMI device S14.
  • the treatment performance is then modified by the treatment performance modification S15, whereas here the modified treatment performance is capped between 0 and 1.
  • the modified treatment performance can then be used to generate control data for the agricultural machine.
  • the agricultural machine When transferred to the agricultural machine, the agricultural machine performs the treatment of the agricultural field according to the modified treatment performance (especially the modified weed threshold or harmful organism threshold).
  • the treatment performance modification or parts of it can also be uploaded to a database and stored within or updating data, in particular in relation with the identity of the farmer, the field data and/or the treatment performance S16.
  • the treatment performance might be provided via a HMI device to the farmer before he inputs the representation of the treatment performance modification via the HMI device S13.5.
  • a difference between the planned treatment performance for the sub-field zone and the determined treatment performance for the sub-field zone might be calculated, and based on this calculated difference or depending on whether this calculated difference exceeds a predetermined treatment performance difference threshold value, an adjustment signal to the HMI device is generated (S13.6).
  • any steps presented can be performed in any order, i.e. the present invention is not limited to a specific order of these steps.
  • the different steps are performed at a certain place or at one node of a distributed system, i.e. each of the steps may be performed at a different nodes using different equipment/data processing units.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Insects & Arthropods (AREA)
  • Pest Control & Pesticides (AREA)
  • Wood Science & Technology (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Catching Or Destruction (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

L'invention concerne un procédé pour modifier des performances de traitement en vue du traitement d'un champ agricole par une machine agricole, le procédé comprenant une fonction de modification et la machine agricole comprenant au moins un composant de traitement. Le procédé est caractérisé en ce qu'il comprend les étapes consistant à : - obtenir des données de champ (S1, S10) ; - déterminer des performances de traitement par analyse des données de champ (S2, S12) ; - assurer une modification des performances de traitement par l'intermédiaire de la fonction de modification et d'un paramètre de représentation (S3, S13) ; - modifier les performances de traitement avec la modification des performances de traitement (S4, S15).
PCT/EP2022/078189 2021-10-11 2022-10-11 Modification des performances d'un pulvérisateur par hmi WO2023061979A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020201159A1 (fr) * 2019-03-29 2020-10-08 Basf Agro Trademarks Gmbh Procédé de traitement de plantation d'un champ de plantation
US11076589B1 (en) * 2020-10-16 2021-08-03 Verdant Robotics, Inc. Autonomous agricultural treatment system using map based targeting of agricultural objects

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020201159A1 (fr) * 2019-03-29 2020-10-08 Basf Agro Trademarks Gmbh Procédé de traitement de plantation d'un champ de plantation
US11076589B1 (en) * 2020-10-16 2021-08-03 Verdant Robotics, Inc. Autonomous agricultural treatment system using map based targeting of agricultural objects

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